Hi everyone! please, is there a mod that allows me to assign a sim (not a family one) to do any interaction? like doing laundry or something!?

With this mod from Knight you can do a lot of actions on another SIM
https://modthesims.info/d/674125/sim-control-tools.html

Like use clean up.
Interactions > Chores...Interactions from this category allow you to get sim to cook a random meal, sleep, clean up, or fix broken things in the current lot as if they were your roommates (University Life EP is not required). Sims can use fridge, grill (only for NPCs on community lots), toy oven (only for childs), and food synthesizer from Into the Future EP.

You can also use nraas Retuner on the object machine and see, if you can change more autonomous or increase fun so the sims do it faster on their own.

You can also use Selector to right-click switch control to any sim seamlessly, give them interactions, and switch back to your sim. They'll complete their queue even uncontrolled.
Only thing to note that it is a dream-catching switch, and if you're using this to control random townies the unwanted dream managers would pile up. You can work around this by using a non-dream-catching switch from another mod, but it works well if between extended family / rotational households that you want to retain dreams on anyway.

But Knight's mod also looks incredible, I don't know how I haven't seen it until now

This is sort of a shameless self plug, though it fits your question.
I have recently updated the SimPanel mod which allows you to control a sim without switching the household, among other things.
So this might be an option too.

https://www.nexusmods.com/thesims3/mods/145

Requires this mod (1.046) to run:
https://www.nexusmods.com/thesims3/mods/129